Nonlinear H INFINITO control of underactuated robot manipulators / Controle H INFINITO não linear de robôs manipuladores subatuados
AUTOR(ES)
Adriano Almeida Gonçalves Siqueira
DATA DE PUBLICAÇÃO
2004
RESUMO
This work presents the development, implementation and analysis of nonlinear H control techniques applied to underactuated manipulators, under parametric uncertainties and external disturbances. At the first part, two approaches are considered for underactuated individual manipulators. The first approach consists in representing manipulators as nonlinear systems in the quasi-linear parameter varying form and in controlling them via H control for linear parameter varying systems based on linear matrix inequalities. At the second approach, an explicit solution to the nonlinear H control problem for manipulators is found via differential game theory. With this procedure, it is also implemented the nonlinear mixed H2/H, nonlinear adaptive H, and nonlinear adaptive H with neural networks controls. Also is developed a fault tolerant system for manipulators based on Markovian systems and Markovian H2, H, and H2/H controls. At the second part, the dynamic model of underactuated cooperative manipulators is represented in the state space form in order to apply the nonlinear H controls to position control, plus the squeeze force control, of an object.
ASSUNTO(S)
o linear robô underactuated robot manipulators nonlinear control s manipuladores subatuados controle nã
Documentos Relacionados
- Montagem e controle H Infinito não linear de manipuladores espaciais com base flutuante
- Nonlinear H¥ control for underactuated manipulators with robustness tests
- IMPACT CONTROL OF ROBOTIC MANIPULATORS
- Controle H-infinito não linear e a equação de Hamilton Jacobi-Isaacs.
- Underactuated manipulator robot control via H2, H∞, H2/H∞, and µ-synthesis approaches: a comparative study
